vpV4l2Grabber.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Video for linux two framegrabber.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpV4l2Grabber_hh
#define vpV4l2Grabber_hh

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_V4L2

#include <linux/types.h>
#include <linux/kernel.h>
#include <linux/videodev2.h> // Video For Linux Two interface
#include <libv4l2.h> // Video For Linux Two interface

#include <visp3/core/vpImage.h>
#include <visp3/core/vpFrameGrabber.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpRect.h>

class VISP_EXPORT vpV4l2Grabber : public vpFrameGrabber
{
public:
  static const unsigned int DEFAULT_INPUT;
  static const unsigned int DEFAULT_SCALE;
  static const __u32 MAX_INPUTS;
  static const __u32 MAX_NORM;
  static const __u32 MAX_FORMAT;
  static const unsigned int MAX_CTRL;
  static const unsigned int MAX_BUFFERS;
  static const unsigned int FRAME_SIZE;

  typedef enum
    {
      framerate_50fps, 
      framerate_25fps  
    } vpV4l2FramerateType;

  typedef enum
    {
      V4L2_FRAME_FORMAT, 
      V4L2_IMAGE_FORMAT  
    } vpV4l2FrameFormatType;

  typedef enum {
    V4L2_GREY_FORMAT, 
    V4L2_RGB24_FORMAT, 
    V4L2_RGB32_FORMAT, 
    V4L2_BGR24_FORMAT, 
    V4L2_YUYV_FORMAT, 
    V4L2_MAX_FORMAT
  } vpV4l2PixelFormatType;

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  struct ng_video_fmt {
    unsigned int   pixelformat;         /* VIDEO_* */
    unsigned int   width;
    unsigned int   height;
    unsigned int   bytesperline;  /* zero for compressed formats */
  };


  struct ng_video_buf {
    struct ng_video_fmt  fmt;
    size_t               size;
    unsigned char        *data;
    int                  refcount;
  };
#endif

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//  vpV4l2Grabber(const vpV4l2Grabber &)
//    : fd(-1), device(), cap(), streamparm(), inp(NULL), std(NULL), fmt(NULL), ctl(NULL),
//      fmt_v4l2(), fmt_me(), reqbufs(), buf_v4l2(NULL), buf_me(NULL), queue(0),
//      waiton_cpt(0), index_buffer(0), m_verbose(false), m_nbuffers(3), field(0), streaming(false),
//      m_input(vpV4l2Grabber::DEFAULT_INPUT),
//      m_framerate(vpV4l2Grabber::framerate_25fps),
//      m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT),
//      m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
//  {
//    throw vpException(vpException::functionNotImplementedError,"Not implemented!");
//  }
//  vpV4l2Grabber &operator=(const vpV4l2Grabber &){
//    throw vpException(vpException::functionNotImplementedError,"Not implemented!");
//    return *this;
//  }
//#endif

public:
  vpV4l2Grabber();
  vpV4l2Grabber(bool verbose);
  vpV4l2Grabber(unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  vpV4l2Grabber(vpImage<unsigned char> &I,
                unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  vpV4l2Grabber(vpImage<vpRGBa> &I,
                unsigned input, unsigned scale = vpV4l2Grabber::DEFAULT_SCALE);
  virtual ~vpV4l2Grabber() ;

public:
  void open(vpImage<unsigned char> &I) ;
  void open(vpImage<vpRGBa> &I) ;

  void acquire(vpImage<unsigned char> &I);
  void acquire(vpImage<unsigned char> &I, const vpRect &roi);
  void acquire(vpImage<unsigned char> &I, struct timeval &timestamp, const vpRect &roi=vpRect());
  void acquire(vpImage<vpRGBa> &I);
  void acquire(vpImage<vpRGBa> &I, const vpRect &roi);
  void acquire(vpImage<vpRGBa> &I, struct timeval &timestamp, const vpRect &roi=vpRect());
  bool getField();
  vpV4l2FramerateType getFramerate();
  inline vpV4l2PixelFormatType getPixelFormat() 
  {
    return (this->m_pixelformat);
  }

  vpV4l2Grabber & operator>>(vpImage<unsigned char> &I);
  vpV4l2Grabber & operator>>(vpImage<vpRGBa> &I);

  void setVerboseMode(bool verbose) {
    this->m_verbose = verbose;
  };
  void setFramerate(vpV4l2FramerateType framerate);

  void setInput(unsigned input = vpV4l2Grabber::DEFAULT_INPUT) ;

  inline void setWidth(unsigned w)
  {
    this->width = w;
  }
  inline void setHeight(unsigned h)
  {
    this->height = h;
  }

  void setScale(unsigned scale = vpV4l2Grabber::DEFAULT_SCALE) ;

  inline void setNBuffers(unsigned nbuffers)
  {
    this->m_nbuffers = nbuffers;
  }

  inline void setDevice(const std::string &devname)
  {
    sprintf(device, "%s", devname.c_str());
  }
  inline void setPixelFormat(vpV4l2PixelFormatType pixelformat) 
  {
    this->m_pixelformat = pixelformat;
    if (this->m_pixelformat >= V4L2_MAX_FORMAT)
      this->m_pixelformat = V4L2_RGB24_FORMAT;
  }

  void close();

private:
 
  void setFormat();
  inline void setFrameFormat(vpV4l2FrameFormatType frameformat)
  {
    this->m_frameformat = frameformat;
  }
  void open();
  void getCapabilities();
  void startStreaming();
  void stopStreaming();
  unsigned char * waiton(__u32 &index, struct timeval &timestamp);
  int  queueBuffer();
  void queueAll();
  void printBufInfo(struct v4l2_buffer buf);

  int               fd;
  char              device[FILENAME_MAX];
  /* device descriptions */
  struct v4l2_capability    cap;
  struct v4l2_streamparm    streamparm;
  struct v4l2_input     *inp; //[vpV4l2Grabber::MAX_INPUTS];
  struct v4l2_standard          *std; //[vpV4l2Grabber::MAX_NORM];
  struct v4l2_fmtdesc       *fmt; //[vpV4l2Grabber::MAX_FORMAT];
  struct v4l2_queryctrl     *ctl; //[vpV4l2Grabber::MAX_CTRL*2];

  /* capture */
  struct v4l2_format            fmt_v4l2;
  struct ng_video_fmt           fmt_me;
  struct v4l2_requestbuffers    reqbufs;
  struct v4l2_buffer            *buf_v4l2; //[vpV4l2Grabber::MAX_BUFFERS];
  struct ng_video_buf           *buf_me; //[vpV4l2Grabber::MAX_BUFFERS];
  unsigned int                  queue;
  unsigned int                  waiton_cpt;
  __u32             index_buffer; 

  bool      m_verbose;
  unsigned  m_nbuffers;
  unsigned int field;
  bool      streaming;

  unsigned      m_input;
  vpV4l2FramerateType m_framerate;
  vpV4l2FrameFormatType m_frameformat;
  vpV4l2PixelFormatType m_pixelformat;
} ;

#endif
#endif